Position correction method of osteotomy guide tool

ABSTRACT

A method for correcting position of an osteotomy guide tool is disclosed. A trackable element mounted on the osteotomy guide tool or on the robotic arm tracks the position of the osteotomy guide tool and generates position information of the trackable element. According to the current position and the desired position of the trackable element, a robotic arm drives the osteotomy guide tool and the trackable element to move, until the trackable element is moved to the desired position. This method does not need to consider the absolute position accuracy of the robotic arm, and does not rely on the experience of the surgeon. The tool has several guiding features, which can provide guides for osteotomy operations, so that the same osteotomy guide tool can perform multiple operations of osteotomy and punching, thus greatly reducing the operation time and improving the operation efficiency.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a divisional of U.S. patent application Ser. No.16/859,291, filed Apr. 27, 2020, which application claims the priorityof Chinese patent application number 201910940234.7, filed on Sep. 30,2019, the entire contents of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the field of robot-assisted surgicalsystems and methods, and in particular, to a method for correctingposition of an osteotomy guide tool, a computer-readable storage medium,an orthopedic surgical system and an osteotomy guide tool.

BACKGROUND

In artificial joint replacement surgeries, various positioners, guidesand other tools are used in an osteotomy process before installation ofthe artificial joint to ensure the accuracy of the osteotomy. Differentapproaches have been proposed to assist surgeons achieve positioning ofthe osteotomy guide tools during total knee joint replacement (TKR)surgery.

However, the existing devices or methods for positioning osteotomy guidetools during surgery still have defects such as insufficient positioningaccuracy. Therefore, it is necessary to develop methods and surgicalsystems capable of improving the positioning accuracy of the osteotomyguide tools.

SUMMARY OF THE INVENTION

In view of the above, an objective of the present disclosure is toprovide a method for correcting a position of an osteotomy guide tool, acomputer-readable storage medium, an orthopedic surgical system and anosteotomy guide tool, in which the real-time position and the pose ofthe osteotomy guide tool are tracked and fed back, and the movement ofthe osteotomy guide tool is controlled by a robotic arm to realize thepositioning of the osteotomy guide tool and improve the positioningaccuracy of the osteotomy guide tool.

In one aspect, the present disclosure provides a method for correcting aposition of an osteotomy guide tool, including:

controlling a movement of a robotic arm according to a current positionand a desired position of a trackable element, the trackable elementmounted on the osteotomy guide tool or on the robotic arm, so that therobotic arm drives the osteotomy guide tool and the trackable element tomove, until the trackable element is moved to the desired position;

wherein, a position information of the trackable element is used torepresent a position of the osteotomy guide tool.

Optionally, the method for correcting a position of an osteotomy guidetool further includes, before the controlling step, a verificating stepfor detecting whether the osteotomy guide tool and/or the trackableelement is deformed, wherein the verificating step includes:

determining whether an original position of a verification elementmatches a current position of the verification element based on: i) theoriginal position of the verification element mounted on the osteotomyguide tool relative to the trackable element before leaving a factory,and ii) the current position of the verification element relative to thetrackable element during use of the osteotomy guide tool;

determining that the osteotomy guide tool and/or the trackable elementis not deformed if the original position of the verification elementmatches the current position of the verification element, and proceedingto the controlling step of controlling the movement of the robotic armaccording to the current position and the desired position of thetrackable element mounted on the osteotomy guide tool or on the roboticarm; and

determining that the osteotomy guide tool and/or the trackable elementis deformed if the original position of the verification element doesnot match the current position of the verification element, andcorrecting a relative position between the osteotomy guide tool and thetrackable element before proceeding to the controlling step ofcontrolling the movement of the robotic arm according to the currentposition and the desired position of the trackable element mounted onthe osteotomy guide tool or on the robotic arm.

Optionally, in the position correction method, the correcting stepincludes:

acquiring positions of at least two correction elements mounted on theosteotomy guide tool relative to the trackable element; and

obtaining a current position of the osteotomy guide tool relative to thetrackable element according to the positions of the at least twocorrection elements relative to the trackable element, and updating therelative position between the osteotomy guide tool and the trackableelement.

Optionally, in the position correction method, the positions of two ofthe correction elements relative to the trackable element are recordedas T₁ and T₂ where T₁ represents a position of a first correctionelement in a coordinate system of the trackable element, and T₂represents a position of a second correction element in the coordinatesystem of the trackable element;

wherein the current position of the osteotomy guide tool relative to thetrackable element is obtained by:

obtaining a position T₀ of a center point of an osteotomy guide blockand a position T₃ of a surface of the osteotomy guide block in thecoordinate system of the trackable element, according to the positionsT₁ and T₂ of the at least two correction elements in the coordinatesystem of the trackable element; and

obtaining a position and a pose of the osteotomy guide tool relative tothe trackable element according to the position T₀ of the center pointof the osteotomy guide block and the position T₃ of the surface of theosteotomy guide block in the coordinate system of the trackable element.

Optionally, in the position correction method, before the controllingstep, the method further includes:

determining a desired moving path of the trackable element according tothe current position and the desired position of the trackable element;

wherein during the controlling step, the robotic arm is controlled tomove the trackable element from the current position to the desiredposition along the desired moving path.

Optionally, in the position correction method, the desired position ofthe trackable element is obtained according to a posture mappingrelationship between the trackable element and the osteotomy guide tool,as well as a target position of the osteotomy guide tool.

Optionally, in the position correction method, the posture mappingrelationship between the trackable element and the osteotomy guide toolincludes a posture mapping relationship between multiple guidingfeatures on the osteotomy guide tool and the trackable element.

Optionally, in the position correction method, the posture mappingrelationship between each of the multiple guiding features and thetrackable element is obtained by:

acquiring relative positions between respective target balls on thetrackable element, and establishing a coordinate system of the trackableelement according to the acquired relative positions;

acquiring a position of a center point of an osteotomy guide block inthe coordinate system of the trackable element; and

determining a position and a pose of the multiple guiding features inthe coordinate system of the trackable element according to positions ofthe multiple guiding features relative to the center point of theosteotomy guide, as well as a position of the center point of theosteotomy guide in the coordinate system of the trackable element.

In another aspect, the present disclosure provides a computer-readablestorage medium having an instruction thereon, wherein a method forcorrecting a position of an osteotomy guide tool is performed when theinstruction is executed by a processor, the method for correcting aposition of an osteotomy guide tool including:

controlling a movement of a robotic arm according to a current positionand a desired position of a trackable element mounted on the osteotomyguide tool or on the robotic arm, so that the robotic arm drives theosteotomy guide tool and the trackable element to move, until thetrackable element is moved to the desired position; wherein a positionof the trackable element is used to represent a position of theosteotomy guide tool.

In still another aspect, the present disclosure provides an orthopaedicsurgical system includes a control device, a navigation device, arobotic arm and an osteotomy guide tool, wherein a tail end of therobotic arm is connected to the osteotomy guide tool, and the roboticarm is configured to adjust a position and a pose of the osteotomy guidetool;

wherein the navigation device includes a tracker and a trackableelement, the trackable element is configured to be mounted on theosteotomy guide tool or on the robotic arm, and the tracker isconfigured to track and generate a current position information of thetrackable element which is used to represent a position of the osteotomyguide tool;

wherein the control device includes a computer-readable storage mediumstoring an instruction, wherein a method for correcting a position of anosteotomy guide tool is performed when the instruction is executed by aprocessor, the method for correcting a position of an osteotomy guidetool including:

controlling a movement of the robotic arm according to the currentposition of the trackable element fed back by the tracker and a desiredposition of the trackable element, so that the robotic arm drives theosteotomy guide tool and the trackable element to move until thetrackable element is moved to the desired position.

Optionally, in the orthopaedic surgical system, the orthopaedic surgicalsystem further includes a verification device for verifying whether theosteotomy guide tool and/or the trackable element is deformed;

wherein the osteotomy guide tool includes an osteotomy guide block, andthe osteotomy guide block is provided with a plurality of guidingfeatures configured to provide guidance for an osteotomy operation, theverification device includes at least one verification elementconfigured to be detachably mounted on the osteotomy guide block;

wherein the tracker is configured to record an original position of theverification element relative to the trackable element before leaving afactory, and the tracker is configured to record a current position ofthe verification element relative to the trackable element before eachoperation;

wherein the control device is configured to determine whether theoriginal position of the verification element matches the currentposition of the verification element; if the original position of theverification element matches the current position of the verificationelement, the osteotomy guide tool and/or the trackable element isdetermined as not deformed; if the original position of the verificationelement does not match the current position of the verification element,the osteotomy guide tool and/or the trackable element is determined asdeformed.

Optionally, in the orthopedic surgical system, the orthopedic surgicalsystem further includes a correction device, which is configured tocorrect the relative position between the osteotomy guide tool and thetrackable element when the verification device determines that theosteotomy guide tool and/or the trackable element is deformed; whereinthe correction device includes at least two correction elementsdetachably mounted on the osteotomy guide block;

wherein the tracker is configured to record positions of the at leasttwo correction elements relative to the trackable element; and

wherein the control device is configured to obtain a current position ofthe osteotomy guide tool relative to the trackable element according tothe positions of the at least two correction elements relative to thetrackable element, and update the relative position between theosteotomy guide tool and the trackable element.

Optionally, in the orthopedic surgical system, the positions of two ofthe correction elements relative to the trackable element are recordedas T₁ and T₂, where T₁ represents a position of a first correctionelement in a coordinate system of the trackable element, and T₂represents a position of a second correction element in the coordinatesystem of the trackable element;

wherein: the control device is configured to obtain a position T₀ of acenter point of the osteotomy guide block and a position T₃ of a surfaceof the osteotomy guide block in the coordinate system of the trackableelement according to the positions T₁ and T₂ of the at least twocorrection elements in the coordinate system of the trackable element;wherein the control device is further configured to obtain a positionand a pose of the osteotomy guide tool relative to the trackable elementaccording to the position T₀ of the center point of the osteotomy guideblock and the position T₃ of the surface of the osteotomy guide block inthe coordinate system of the trackable element.

Optionally, in the orthopedic surgical system, the navigation devicefurther includes a basal target, the basal target is fixed in positionand the position of the trackable element refers to the position of thetrackable element relative to the basal target.

Optionally, in the orthopedic surgical system, the control device isconfigured to provide a desired moving path composed of a plurality ofpositioning points, and the control device is configured to control themovement of the robotic arm so as to move the trackable element to thedesired position along the desired moving path.

Optionally, in the orthopedic surgical system, the orthopedic surgicalsystem further includes a storage device for storing a posture mappingrelationship between the trackable element and the osteotomy guide tool.

Optionally, in the orthopedic surgical system, the osteotomy guideincludes an osteotomy guide block, and the osteotomy guide is providedwith multiple guiding features configured to provide guidance for anosteotomy operation; wherein the posture mapping relationship betweenthe trackable element and the osteotomy guide tool includes a posturemapping relationship between the multiple guiding features and thetrackable element.

Optionally, in the orthopaedic surgical system, the posture mappingrelationship between each of the multiple guiding features and thetrackable element is obtained by:

acquiring relative positions between respective target balls on thetrackable element, and establishing a coordinate system of the trackableelement according to the acquired relative positions;

acquiring a position of a center point of an osteotomy guide block inthe coordinate system of the trackable element; and

determining a position and a pose of the plurality of guiding featuresin the coordinate system of the trackable element according to positionsof the multiple guiding features relative to the center point of theosteotomy guide, as well as a position of the center point of theosteotomy guide in the coordinate system of the trackable element.

Optionally, in the orthopedic surgical system, the osteotomy guide blockis provided with at least one verification hole, and the verificationelement is mounted on the verification hole; the verification elementhas a step, and a stepped surface of the step is parallel to a surfaceof the osteotomy guide block.

Optionally, in the orthopedic surgical system, the osteotomy guide blockhas an upper surface, and the multiple guiding features are provided onthe upper surface; wherein the verification hole vertically extends fromthe upper surface, and the stepped surface matches the upper surface.

Optionally, in the orthopedic surgical system, an axis of theverification hole is located on a symmetry plane of the osteotomy guideblock, and wherein an end surface of the verification hole, the uppersurface of the osteotomy guide block and the stepped surface arecoplanar.

Optionally, in the orthopedic surgical system, a position information ofthe verification element relative to the trackable element includes: aposition and a pose of a front end of the verification element in acoordinate system of the trackable element.

Optionally, in the orthopedic surgical system, the position of each ofthe correction elements in the coordinate system of the trackableelement includes:

a position and a pose of a front end of the correction element in thecoordinate system of the trackable element; and

a position and a pose of a stepped surface of the correction element inthe coordinate system of the trackable element;

wherein the correction element has a step, and the stepped surface ofthe step is parallel to a surface of the osteotomy guide block.

Optionally, in the orthopedic surgical system, the osteotomy guide blockis provided with a correction hole, two of the correction elements areboth mounted on the correction hole, or two of the correction elementsare respectively mounted on the verification hole and the correctionhole.

Optionally, in the orthopedic surgical system, an end surface of thecorrection hole is coplanar with a corresponding surface of theosteotomy guide block and the stepped surface of the correction element.

Optionally, in the orthopedic surgical system, the osteotomy guide toolincludes an osteotomy guide block and a mounting interface, wherein themounting interface is connected to the osteotomy guide block via aconnecting shaft, the osteotomy guide block is provided with multipleguiding features configured to provide guidance for an osteotomyoperation, and the mounting interface is further detachably connected tothe tail end of the robotic arm.

Optionally, in the orthopedic surgical system, the connecting shaft isan eccentric crank connected to the osteotomy guide block and themounting interface, respectively, and wherein a rotation axis of themounting interface is offset from a rotation axis of the osteotomy guideblock.

Optionally, in the orthopedic surgical system, the osteotomy guide toolfurther includes a mounting base, wherein the osteotomy guide block, theeccentric crank, the mounting base and the mounting interface areconnected in sequence, and the mounting base is provided with a targetmounting hole.

Optionally, in the orthopedic surgical system, the osteotomy guide blockis detachably connected to the eccentric crank.

Optionally, in the orthopedic surgical system, the guiding featureincludes multiple guiding grooves, the multiple guiding grooves aredistributed on a same surface of the osteotomy guide block, or themultiple guiding grooves are arranged on different surfaces around anaxis of the osteotomy guide block.

Optionally, in the orthopedic surgical system, the multiple guidinggroove are 0° guiding grooves or 45° guiding grooves.

Optionally, in the orthopedic surgical system, the osteotomy guide toolincludes two osteotomy guide blocks mirrored to each other, and eachosteotomy guide block is provided with a quick-change interface fordetachably connecting to the eccentric crank.

Optionally, in the orthopedic surgical system, the osteotomy guide toolincludes an osteotomy guide block, the osteotomy guide block is providedwith two mounting interfaces that are oppositely disposed, and theeccentric crank is detachably connectable to any one of the two mountinginterfaces.

Optionally, in the orthopaedic surgical system, the orthopaedic surgicalsystem further includes a sterile bag sleeved on the tail end of therobotic arm, and wherein one end of the sterile bag covers a connectionport of the robotic arm, the connection port is detachably connectableto the osteotomy guide tool.

Optionally, in the orthopaedic surgical system, an end of the sterilebag is provided with a yield hole.

In still another aspect, the present disclosure provides an osteotomyguide tool for the orthopaedic surgical system as described above, andthe osteotomy guide tool includes an osteotomy guide block, a connectingshaft and a mounting interface; the osteotomy guide block is providedwith multiple guiding features configured to provide guidance for anosteotomy operation; wherein two ends of the connecting shaft arerespectively connected to the osteotomy guide block and the mountinginterface, and the mounting interface is configured to be detachablyconnected to the tail end of the robotic arm.

Optionally, in the osteotomy guide tool, the multiple guiding featuresinclude a guiding groove and a guiding hole.

Optionally, in the osteotomy guide tool, the connecting shaft is aneccentric crank.

Optionally, in the osteotomy guide tool, the osteotomy guide toolfurther includes a mounting base, wherein the osteotomy guide block, theeccentric crank, the mounting base and the mounting interface aresequentially connected, and the mounting base is provided with a targetmounting hole.

Optionally, in the osteotomy guide tool, the osteotomy guide block isdetachably connected to the eccentric crank.

Optionally, in the osteotomy guide tool, both ends of the guiding groovepenetrate a surface of the osteotomy guide block to form a breach.

Optionally, in the osteotomy guide tool, the guiding groove has a shapeof a horn.

Optionally, in the osteotomy guide tool, a plurality of guiding groovesare provided, and the plurality of guiding grooves are arranged ondifferent surfaces around the axis of the osteotomy guide block.

Optionally, the plurality of guiding grooves are 0° guiding grooves or45° guiding grooves.

Optionally, in the osteotomy guide tool, the guiding groove includes atleast one of a 0° guiding groove; a 45° guiding groove; and apulley-osteotomy groove; the guiding hole includes at least one of afemoral prosthesis-mounting guiding hole, a left leg tibial-toolingpositioning guiding hole, a right leg tibial-tooling positioning guidinghole and an osteotomy-guide fixing hole.

Optionally, in the osteotomy guide tool, the guiding groove includes two0° guiding grooves, two 45° guiding grooves and two pulley-osteotomygrooves.

Optionally, in the osteotomy guide tool, the osteotomy guide block hasan axisymmetric structure.

Optionally, in the osteotomy guide tool, the osteotomy guide block isprovided with two mounting interfaces, the two mounting interfaces areoppositely disposed, and the eccentric crank is detachably connectableto any one of the two mounting interfaces.

Optionally, in the osteotomy guide tool, the osteotomy guide block isprovided with a verification hole.

Optionally, in the osteotomy guide tool, the osteotomy guide block isprovided a correction hole.

The position correction method in the present disclosure comprisestracking and feeding back the real-time pose of the osteotomy guidetool, and controlling the movement of the robotic arm according to thereal-time pose of the osteotomy guide tool. It is unnecessary for themethod to consider the absolute position accuracy of the robotic armitself, and to rely on the experience of the surgeon, making theposition of the osteotomy guide tool more accurate and improving thepositioning accuracy of the osteotomy guide tool. In addition, theabove-mentioned orthopedic surgical system suspends the osteotomy guidetool by a robotic arm without fixing the tool to the human body, whichcan avoid secondary injury to the human body.

The position correction method in the present disclosure also checkswhether the osteotomy guide tool and/or trackable element is deformed byverifying the trackable element, so that any deformed osteotomy guidetool and/or trackable element can be timely and conveniently replaced orcorrected, thereby reducing the risk of surgery and improving surgeryaccuracy. For example, the above-mentioned position correction methodalso corrects and updates the relative positional relationship betweenthe osteotomy guide tool and the trackable element via at least twocorrection elements, and the correction process is simple andconvenient.

The osteotomy guide tool in the present disclosure includes an osteotomyguide block, and the osteotomy guide block is provided with a pluralityof guiding features. These guiding features are designed with differentcombinations of guiding holes and guiding grooves, which can provide avariety of guidance for osteotomy, so that the same osteotomy guide toolcan perform multiple operations of osteotomy and punching. There is noneed to frequently change the osteotomy guide tool during the operation,which can greatly reduce the operation time and improve the operationefficiency.

The above osteotomy guide tool optionally has an axisymmetric structure,so that the same osteotomy guide tool can take into account both leftand right limbs, thus reducing costs, simplifying osteotomy operations,and improving surgical efficiency.

The guiding groove in the osteotomy guide tool, for example, the 45°guiding groove or the 0° guiding groove, has two ends penetrating thesurface of the osteotomy guide block to form a bevel, which enables theosteotomy guide tool to be used for osteotomy guide of different typesof prostheses.

The guiding groove in the osteotomy guide tool, for example, the 0°guiding groove or the 45° guiding groove, has a shape of a horn, whichenables the osteotomy guide tool to be used for osteotomy guide ofdifferent types of prostheses.

The guiding groove in the osteotomy guide tool, for example, the 0°guiding groove or the 45° guiding groove, is optionally distributed ondifferent surfaces around the axis of the osteotomy guide block. In thisway, the amplitude of adjustment of the osteotomy guide tool whencutting different osteotomy surfaces can be reduced, and the problem ofincreased pose recognition error or failure of recognition caused by atoo large rotation amplitude of the trackable element can be prevented.At the same time, a large transmission error caused by the excessivechange of the pose of the robotic arm can also be avoided, therebyfurther improving the positioning accuracy.

The rotation axis of the osteotomy guide tool and the rotation axis ofthe end joint of the robotic arm are eccentric. As such, the robotic armonly needs to perform a small linear displacement and rotation whenadjusting the angle of the osteotomy guide tool, which can reduce thetransmission error of the robotic arm and improve the positioningaccuracy.

BRIEF DESCRIPTION OF DRAWINGS

The implementation method of the present disclosure and the features,properties, and advantages of the related embodiments will be describedby referring to the following drawings, in which:

FIG. 1 is a schematic diagram of knee joint replacement using anorthopaedic surgical system according to an embodiment of the presentdisclosure;

FIG. 2 is a schematic structural diagram of an osteotomy guide toolprovided by an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of an osteotomy guide tool for translationto achieve multiple osteotomy guidance according to an embodiment of thepresent disclosure;

FIG. 4 is a schematic diagram of osteotomy surface adjustment byrotating the osteotomy guide tool according to an embodiment of thepresent disclosure;

FIG. 5 is a cross-sectional view taken along the A-A line of theosteotomy guide tool shown in FIG. 2 , where the 0° guiding groove has ashape of a horn;

FIG. 6 is a schematic diagram of using a verification element to verifywhether an osteotomy guide tool and/or a trackable element is deformedaccording to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of an osteotomy guide toolprovided with a correction hole according to an embodiment of thepresent disclosure;

FIG. 8 is a schematic diagram of correcting an osteotomy guide tool byusing a correction element according to an embodiment of the presentdisclosure;

FIG. 9 is a schematic diagram of installing a trackable element on ahousing of an end joint of a robotic arm according to an embodiment ofthe present disclosure;

FIG. 10 is a schematic structural diagram of an osteotomy guide with twomirror configurations provided by an embodiment of the presentdisclosure;

FIG. 11 is a schematic diagram of providing two quick-change interfaceson the same osteotomy guide block to achieve osteotomy of left and rightlegs according to an embodiment of the present disclosure;

FIG. 12 is a schematic diagram of a moving path of a trackable elementaccording to an embodiment of the present disclosure;

FIG. 13 is a schematic diagram of guiding the osteotomy of a tibialplateau according to an embodiment of the present disclosure;

FIG. 14 is a schematic diagram of guiding the osteotomy of the front endof the femur according to an embodiment of the present disclosure;

FIG. 15 is a schematic structural diagram of an osteotomy guide toolprovided with a single 0° guiding groove according to a first embodimentof the present disclosure;

FIG. 16 is a schematic structural diagram of an osteotomy guide toolprovided with two 0° guiding grooves according to a second embodiment ofthe present disclosure;

FIG. 17 is a schematic structural diagram of an osteotomy guide toolprovided with two pulley-osteotomy grooves and two 0° guiding groovesaccording to a third embodiment of the present disclosure;

FIG. 18 is a schematic structural diagram of an osteotomy guide toolprovided with a single 0° guiding groove and two guiding holes accordingto a fourth embodiment of the present disclosure;

FIG. 19 is a schematic structural diagram of an osteotomy guide toolprovided with two 0° guiding grooves and two guiding holes according toa fifth embodiment of the present disclosure;

FIG. 20 is a schematic structural diagram of an osteotomy guide toolprovided with two 0° guiding grooves, two pulley-osteotomy grooves andtwo guiding holes according to a sixth embodiment of the presentdisclosure;

FIG. 21 is a schematic structural diagram of an osteotomy guide toolprovided with two fixing holes and multiple guiding grooves according toa seventh embodiment of the present disclosure;

FIG. 22 is a schematic structural diagram of an osteotomy guide toolprovided with a square pulley-osteotomy grooves, a long guiding grooveand two guiding holes according to an eighth embodiment of the presentdisclosure;

FIG. 23 is a schematic structural diagram of an osteotomy guide toolafter opening a side of a guiding groove according to a ninth embodimentof the present disclosure;

FIG. 24 is a schematic structural diagram of a tibial treatment tooldirectly used as an osteotomy guide tool provided by a tenth embodimentof the present disclosure;

FIG. 25 is a schematic structural diagram of a pulley groove guide tooldirectly used as an osteotomy guide tool provided by an eleventhembodiment of the present disclosure;

FIG. 26 a is a schematic structural diagram of a sterile bag sleeved onan end joint of a robotic arm according to an embodiment of the presentdisclosure;

FIG. 26 b is a partially enlarged view of an avoidance hole provided atone end of a sterile bag according to an embodiment of the presentdisclosure.

In the figures:

-   -   1-surgical trolley; 2-robotic arm; 3-trackable element;        4-osteotomy guide tool; 5-surgical tool; 6-tracker; 7-auxiliary        display; 8-main display; 9-navigation trolley; 10-keyboard;        11-femoral target; 12-femur; 13-tibia target; 14-tibia; 15-basal        target; 16-verification element; 17-patient; 18-surgeon;    -   40, 41, 42, 43, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,        30-osteotomy guide block;    -   401-mounting interface; 402-mounting base; 4021-target mounting        hole; 403-eccentric crank; 404-femoral prosthesis mounting        guiding hole; 405-right leg pulley-osteotomy groove; 406-left        leg tibial-tooling positioning guiding hole; 407-first 0°        guiding groove; 408-first 45° guiding groove; 409-verification        hole; 410-second 45° guiding groove; 411-second 0° guiding        groove; 412-left leg pulley-osteotomy groove; 413-right leg        tibial-tooling positioning guiding hole; 414 a-first correction        hole; 414 b-second correction hole;    -   415, 421, 431, 432-quick-change interface; 201, 211-0° guiding        groove; 221-pulley-osteotomy groove; 231, 241, 251, 271-guiding        hole; 261-locating hole; 272-square groove; 273-long guiding        groove; 281-breach; 31-sterile bag; 311-yielding hole;        312-fastener.

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS

In the following, the technical solutions in the embodiments of thepresent disclosure will be clearly and completely described withreference to the drawings in the embodiments of the present disclosure.Obviously, the described embodiments are some embodiments of the presentdisclosure, but not all of the embodiments of the present disclosure.Based on the embodiments of the present disclosure, all otherembodiments obtained by those skilled in the art without creativeefforts shall fall within the protection scope of the presentdisclosure.

As used in the present disclosure, the singular forms “a”, “an” and“the” include plural referents unless the content clearly dictatesotherwise. As used in the present disclosure, the term “or” is generallyused in its sense including “and/or” unless the content clearly dictatesotherwise. As used in the present disclosure, the term “several” isgenerally used in its sense including “at least one” unless the contentclearly indicates otherwise. As used in the present disclosure, the term“at least two” is generally used in its sense including “two or more”unless the content clearly indicates otherwise. In addition, the terms“first”, “second” and “third” are used for descriptive purposes only,and cannot be understood as indicating or implying relative importanceor implicitly indicating the number of technical features indicated.Therefore, the features defined as “first”, “second” and “third” mayexplicitly or implicitly include one or at least two of the features.

The present disclosure is to provide a position correction method of anosteotomy guide tool. The idea of position correction is to use thetrackable element mounted on the osteotomy guide tool or on the roboticarm to track the position of the osteotomy guide tool, and then as longas the position information of the trackable element is obtained, themovement of the robotic arm can be controlled according to the positioninformation of the trackable element (including the current position andthe desired position of the trackable element), so that the robotic armdrives the osteotomy guide tool and the trackable element to move, untilthe trackable element is moved to the desired position. Because there isa mapping relationship between the position of the trackable element andthe position of the osteotomy guide tool, adjusting the position and thepose of the trackable element is equivalent to adjusting the positionand the pose of the osteotomy guide tool, that is, the position of thetrackable element is used to represent the position of the osteotomyguide tool. It is unnecessary to take into account the absolute positionaccuracy of the robotic arm itself, and to rely on the experience of asurgeon, thereby making the position of the osteotomy guide tool moreaccurate, and improving the positioning accuracy and surgical accuracyof the osteotomy guide tool.

In order to achieve the precise positioning of the osteotomy guide tool,the present disclosure is also to provide an orthopaedic surgical systemincluding a control device, a navigation device, a robotic arm and anosteotomy guide tool (or a cut guide). The end of the robotic arm isconnected to the osteotomy guide tool or the cut guide. The robotic armis configured to adjust the position and the pose (referred to theposture) of the osteotomy guide tool. The navigation device includes atracker and a trackable element. The trackable element is mounted on theosteotomy guide tool or on a robotic arm, and the tracker is configuredto track the current position of the trackable element and generate thecurrent position information. Therefore, in actual use, the controldevice is configured to control the movement of the robotic armaccording to the current position information and the desired positioninformation of the trackable element fed back by the tracker, so thatthe robotic arm drives the osteotomy guide tool and the trackableelement to move, until the trackable element is moved to the desiredposition. In addition to the advantages described above, the orthopaedicsurgical system of the present disclosure can also suspend the osteotomyguide tool through a robotic arm without fixing the tool to the humanbody, and can avoid secondary injury to the human body.

However, the application environment of the orthopaedic surgical systemof the present disclosure is not particularly limited. For example, itcan be applied to knee joint replacement or other orthopedic surgery. Inthe following description, an orthopaedic surgical system is describedusing knee joint replacement as an example, but it should not be used tolimit the present disclosure.

FIG. 1 is a schematic diagram of knee joint replacement using anorthopaedic surgical system according to an embodiment of the presentdisclosure. As shown in FIG. 1 , the orthopedic surgical system includesa control device, a navigation device, a robotic arm 2 and an osteotomyguide tool 4. The control device is actually implemented by a computerwhich is equipped with a controller, a main display 8 and a keyboard 10,and more preferably the computer is further equipped with an auxiliarydisplay 7. In this embodiment, the contents displayed on the auxiliarydisplay 7 and the contents displayed on the main display 8 are the same,for example, both are used to display osteotomy position images. Thenavigation device is an electromagnetic positioning navigation device,an optical positioning navigation device, or an electromagneticpositioning navigation device. In some embodiments, the navigationdevice is an optical positioning navigation device. Compared with othernavigation methods, the measurement accuracy of the optical positioningnavigation is high, which can effectively improve the positioningaccuracy of the osteotomy guide tool.

In the following description, the optical positioning navigation deviceis taken as an example for description, but is not limited herein.

The navigation device specifically includes a navigation marker and atracker 6. The navigation marker includes a basal target 15 and atrackable element 3. The basal target 15 is fixed, for example, thebasal target 15 is fixed on the surgical trolley 1 such that a basecoordinate system (also referred to as a basal target coordinate system)is established. The trackable element 3 is mounted on the osteotomyguide tool 4 to track the position of the osteotomy guide tool 4. Theosteotomy guide tool 4 is mounted at the end of the robotic arm 2 sothat the osteotomy guide tool 4 is supported by the robotic arm 2 andthe spatial position and the pose of the osteotomy guide tool 4 areadjusted.

In practice, the tracker 6 is configured to capture the signal(preferably an optical signal) reflected by the trackable element 3 andrecord the position of the trackable element 3 (that is, the positionand the pose of the trackable element under the base coordinate system).Then the instruction stored in the controller controls the movement ofthe robotic arm 2 according to the current position and the desiredposition of the trackable element. The robotic arm 2 drives theosteotomy guide tool 4 and the trackable element 3 to move, until thetrackable element 3 is moved to the desired position. The expectedposition of the trackable element 3 corresponds to the desired positionof the osteotomy guide tool 4.

Therefore, the application of the orthopedic surgical system can realizethe automatic positioning of the osteotomy guide tool 4, and thetrackable element 3 tracks and feeds back the real-time pose of theosteotomy guide tool 4 during the operation. The adjustment of theposition and the pose of the osteotomy guide tool is achieved bycontrolling the movement of the robotic arm. Not only the positioningaccuracy of the osteotomy guide tool is high, but also the osteotomyguide tool 4 is supported by the robotic arm 2 without fixing the guidetool on the human body, which can avoid secondary injury to the humanbody.

Generally, the orthopedic surgical system further includes a surgicaltrolley 1 and a navigation trolley 9. The control device and a part ofthe navigation device are mounted on the navigation trolley 9, forexample, the controller is mounted inside the navigation trolley 9, andthe keyboard 10 is placed outside the navigation trolley 9 foroperation. The main display 8, the auxiliary display 7 and the tracker 6are all mounted on a bracket, the bracket is vertically fixed on thenavigation trolley 9, and the robotic arm 2 is mounted on the surgicaltrolley 1. The use of the surgical trolley 1 and the navigation trolley9 makes the entire surgical operation more convenient.

When performing knee joint replacement surgery, the use of theorthopedic surgical system of this embodiment generally includes thefollowing operations:

first, moving the surgical trolley 1 and the navigation trolley 9 toappropriate positions next to the hospital bed;

then, providing the navigation markers (the navigation markers alsoinclude the femoral target 11, the tibial target 13), the osteotomyguide tool 4 and other related components (such as sterile bags);

after that, the surgeon 18 imports the CT/MR scan model of the bone ofthe patient 17 into the computer for preoperative planning to obtain anosteotomy scheme. The osteotomy scheme includes, for example, theosteotomy scheme coordinates, the model of the prosthesis, and theinstallation orientation of the prosthesis. Specifically, based on thepatient knee image data obtained from CT/MR scans, then an osteotomyscheme is created based on the three-dimensional digital model of theknee joint, so that the surgeon can perform preoperative evaluationaccording to the osteotomy scheme. Specifically, the osteotomy scheme isdetermined based on the three-dimensional digital model of the kneejoint, and the obtained prosthesis size specifications and theinstallation position of the osteotomy plate. The osteotomy scheme isfinally output in the form of a surgical report, which records a seriesof reference data such as the coordinates of the osteotomy plane, theamount of osteotomy, the angle of the osteotomy, the size of theprosthesis, the installation position of the prosthesis, and thesurgical aids/assisting tools, especially a series of theoreticalexplanations, such as the reason for selecting the osteotomy angle toprovide a reference for the surgeon. The three-dimensional digital modelof the knee joint can be displayed on the main display 8 and the surgeoncan enter surgical parameters via the keyboard 10 for preoperativeplanning.

After the preoperative evaluation, the surgeon 18 then uses a target penor a pole with tracking elements to mark the guiding features on thepatient's femur and the tibia (that is, the surgeon marks multiplefemoral anatomical guiding features on the patient's femoral entity andmultiple tibial anatomical guiding features on the patient's tibialentity). The navigation device takes the basal target 15 as a reference,records the positions of all guiding features on the patient's tibia 14and femur 12, and sends the positions information of all guidingfeatures to the controller, and then the controller obtains the actualorientation of the femur 12 and the tibia 14 by means of the featurematching algorithm, and corresponds to the orientation of the CT/MRimages on the femur 12 and the tibia 14.

Subsequently, the actual orientation of the femur and the tibia islinked to the corresponding target mounted on the femur and the tibia bythe navigation device, so that the femoral target 11 and the tibiatarget 13 can track the current position of the bone in real time. Therelative position between the target and the bone is fixed, the bonemovement will not affect the surgical effect.

Further, the coordinate of the osteotomy scheme planned before theoperation is sent to the robotic arm 2 by the navigation device. Afterthe robotic arm 2 locates the osteotomy scheme through the trackableelement 3 and moves to the predetermined position, the robotic arm 2 isin the holding state (that is, the robotic arm 2 does not move). Afterthat, the surgeon can use the surgical tool 5 such as a pendulum saw oran electric drill to perform osteotomy and/or punching operations by theosteotomy guide tool 4. After the osteotomy and punching operations arecompleted, the surgeon can install the prosthesis and perform othersurgical operations.

In this embodiment, the navigation marker further includes a femurtarget 11 and a tibial target 13. The femoral target 11 is configured tolocate/track the spatial position and the pose of the femur 12, and thetibial target 13 is configured to locate/track the spatial position andthe pose of the tibia 14. As mentioned before, the trackable element 3is mounted on the osteotomy guide tool 4, but in other embodiments, thetrackable element 3 is also mounted on the end joint of the robotic arm2.

FIG. 2 is a schematic structural diagram of an osteotomy guide toolprovided by a an embodiment of the present disclosure. As shown in FIG.2 , the osteotomy guide tool 4 of this embodiment is used for knee jointreplacement, and includes an osteotomy guide block 40. The osteotomyguide block 40 is provided with guiding features. The guiding featuresinclude a guiding groove or a guiding hole, or a combination of aguiding groove and a guiding hole. That is, the guiding features on theosteotomy guide block 40 may be one or more combinations of the guidinggroove and the guiding hole, thereby providing one or more guides forosteotomy of knee replacement, specifically providing guides forosteotomy and punching operations of the distal femur, the front of thefemur, the back of the femur, the oblique of the front of the femur, theoblique of the femur, the pulley groove, the femoral prosthesis mountinghole, the tibial plateau, and the tibial keel treatment locating hole,so that the same osteotomy guide tool can perform multiple operations ofosteotomy and punching. The osteotomy guide tool does not need to bereplaced during the operation, which can greatly reduce the operationtime and improve the surgical efficiency.

As mentioned above, the position of the osteotomy guide tool isrepresented by the position of the trackable element. To achieve this,it is also necessary to calibrate the posture mapping/correspondingrelationship between the trackable element 3 and the osteotomy guidetool 4 in advance. In this embodiment, the posture mapping relationshipbetween the trackable element 3 and the osteotomy guide tool 4 includesthe posture mapping relationship between all the guiding features andthe trackable element 3. For example, when the guiding feature includesa guiding groove and a guiding hole, the posture mapping relationshipbetween the trackable element 3 and the osteotomy guide tool 4 includes:position information of each guiding groove of the osteotomy guide tool4 in the coordinate system of the trackable element, and the positioninformation of each guiding hole of the osteotomy guide tool 4 in thecoordinate system of the trackable element.

In this embodiment, the posture mapping relationship of each guidingfeature (such as a guiding groove or a guiding hole) relative to thetrackable element 3 can be obtained in the following ways:

Step 1: obtaining the relative positional relationship between thetarget spheres (mainly for four target spheres) on the trackable element3 and establishing the coordinate system of the trackable elementaccordingly;

Step 2: obtaining the coordinates (i.e., position information) of thecenter point (or geometric center, centroid) of the osteotomy guideblock 40 in the coordinate system of the trackable element;

Step 3: according to the position information of the guiding featurerelative to the center point of the osteotomy guide block 40 and thecoordinate information (or the position information) of the center pointof the osteotomy guide block 40 in the coordinate system of thetrackable element, obtaining the position information (includingposition and the pose) of the guiding feature in the coordinate systemof the trackable element, and the position information of the guidingfeature in the coordinate system of the trackable element refers toposture mapping relationship between the guiding feature and thetrackable element 3.

Therefore, it is necessary to calibrate the positions and poses of allguiding features on the osteotomy guide block in the coordinate systemof the trackable element and record these data for the controller toretrieve these data for conversion. Preferably, the posture mappingrelationship between each of the guiding features and the trackableelement can be obtained by performing the above steps by the controller.

With continued reference to FIG. 2 , the osteotomy guide tool 4 furtherincludes a mounting interface 401. The mounting interface 401 isconnected to the osteotomy guide block 40 via a connecting shaft, andthe mounting interface 401 is further detachably connected to the end ofthe robotic arm 2 in order to realize the connection between theosteotomy guide tool 4 and the robotic arm 2. Further, the mountinginterface 401 is a flange. At this time, it can be connected to theflange at the end of the robotic arm by fasteners such as screws andpositioning pins. In other embodiments, the mounting interface 401 is aquick-change interface, which is connected to the end of the robotic arm2 for quick disassembly to achieve the purpose of quick disassembly.

The osteotomy guide tool 4 further includes a connecting shaft, and twoends of the connecting shaft are respectively connected to the osteotomyguide block 40 and the mounting interface 401. As shown in FIG. 2 , theconnecting shaft is preferably an eccentric crank 403. By using theeccentric crank 403, there can be a certain offset between the rotationaxis of the mounting interface 401 (that is, the rotation axis of theend joint of the robotic arm) and the rotation axis of the osteotomyguide block 40, and thus the robotic arm 2 only needs to perform a smalllinear displacement and rotation when adjusting the angle of theosteotomy guide tool 4 to cut other osteotomy surfaces, so as to avoidthe trackable element 3 from increasing the pose recognition errorand/or failure of recognition due to the excessive rotation amplitude,and it can also avoid the large transmission error caused by theexcessive change of the pose of the robotic arm, thereby furtherimproving the positioning accuracy of the osteotomy guide tool. Morepreferably, the eccentric crank 403 is detachably connected to theosteotomy guide block 40, which facilitates different osteotomy guidesby replacing the osteotomy guide block without the need for overallreplacement, thereby reducing costs. Further, the eccentric crank 403connects with the osteotomy guide block 40 via a quick-change interface.The present disclosure does not limit the structure of the quick-changeinterface.

As shown in FIG. 2 , in one embodiment, the osteotomy guide tool 4further includes a mounting base 402 for mounting the trackable element3. The osteotomy guide block 40, the eccentric crank 403, the mountingbase 402 and the mounting interface 401 are sequentially connected. Inthis embodiment, the mounting base 402 is provided with a targetmounting hole 4021, and the trackable element 3 is mounted on the targetmounting hole 4021, the number of target mounting holes 4021 is (but notlimited to) two.

As shown in FIG. 9 , in an alternative embodiment, the mounting base 402is optionally omitted, and the osteotomy guide block 40, the eccentriccrank 403 and the mounting interface 401 are sequentially connected. Atthis time, the trackable element 3 is directly mounted on the shell ofthe end joint of the robotic arm 2, thereby simplifying the structure ofthe osteotomy guide tool 4, while keeping the trackable element 3 awayfrom the surgical operation area, avoiding touching the target duringthe operation to affect the positioning. For example, a target mountinghole 4021 is provided on the shell of the end joint of the robotic arm 2to facilitate the installation of the trackable element 3.

Continuing to refer to FIG. 2 , in order to make the osteotomy guidetool 4 have multiple osteotomy guide operations, in the embodiment ofthe present disclosure, the osteotomy guide block 40 provides with thefollowing guiding features:

femoral prosthesis mounting guiding hole 404; right leg pulley-osteotomygroove 405; left leg tibial-tooling positioning guiding hole 406; thefirst 0° guiding groove 407; the first 45° guiding groove 408; thesecond 45° guiding groove 410; the second 0° guiding grooves 411; leftleg pulley-osteotomy groove 412; and right leg tibial-toolingpositioning guiding hole 413.

In actual application, as long as the pose of the osteotomy guide tool 4is adjusted by the robotic arm 2, it is enough to use the osteotomyguide tool 4 to provide guides for osteotomy and punching operations ofthe distal femur, the front of the femur, the back of the femur, theoblique of the front of the femur, the oblique of the femur, the pulleygroove, the femoral prosthesis mounting hole, the tibial plateau, andthe tibial keel treatment locating hole, and can be compatible with leftand right legs, it makes the osteotomy operation of knee replacementeasier and more convenient, and greatly reduces the operation time andimproves the operation efficiency.

In addition, using the osteotomy guide tool 4 of this embodiment, asshown in FIG. 3 , the osteotomy guide block 40 is provided with 0°guiding grooves (407 and 411) and 45° guiding grooves (408 and 410).When an osteotomy performed to the front of the femur, the oblique ofthe front of the femur, the oblique of the back of the femur, and theoblique of the back of the femur, it is enough for the translation(i.e., in the direction indicated by the arrow in FIG. 3 ) of theosteotomy guide tool to complete these osteotomy operations. Thus thetrackable element 3 will not cause a large pose change, thereby reducingthe transmission error of the robotic arm 2 and the target positiontracking error, and improving the positioning accuracy.

In addition, with the osteotomy guide tool 4 of this embodiment, asshown in FIG. 4 , due to the design of the eccentric crank 403, there isa certain offset between the rotation center of the osteotomy guideblock 40 and the rotation center of the mounting interface 401. Therotation center of the osteotomy guide block 40 is close to the rotationcenter line of the end joint of the robotic arm (that is, the offset isnot large). In this case, the robotic arm 2 only needs to perform asmall linear displacement and rotation when adjusting the angle of theosteotomy guide tool 4 to cut other osteotomy surfaces. In more detail,when the osteotomy guide tool 4 is located at the position indicated byL1, an osteotomy for the tail end of the femur 12 can be operated by asurgical tool (such as a pendulum saw), and when the osteotomy guidetool 4 is located at the position indicated by L2, an osteotomy for theanterior/front and posterior/back ends of the femur 12 and the obliqueof the femur can be performed with surgical tools. It should be notedthat the offset is determined according to factors such as the type ofprosthesis and the amplitude of movement of the osteotomy guide tool,and the size of the offset is not limited in the present disclosure.

In order to increase the scope of the prosthesis applicable to theosteotomy guide tool of the present disclosure, as shown in FIG. 5 , theshape of the 0° guiding groove or the 45° guiding groove is preferably ahorn, or preferably, the 0° guiding groove and the 45° guiding grooveeach has a shape of a horn, so as to increase the swing range of asurgical tool such as a pendulum saw in the guiding groove, so as to becompatible with osteotomy operations of more types of prostheses.

The orthopedic surgical system, in some embodiments, further includes averification device, and the verification device is configured toidentify the deformed state of one or both of the osteotomy guide tool 4and the trackable element 3. When major deformation of the osteotomyguide tool 4 and/or the trackable element 3 is detected, the osteotomyguide tool 4 and/or the trackable element 3 can be replaced in time, orthe relative position between the osteotomy guide tool 4 and thetrackable element 3 can also be corrected by a correction device. Thepose of the corrected osteotomy guide tool is replaced with the originalrecorded data, so that the movement of the robotic arm is controlled bythe corrected pose of the osteotomy guide tool.

As shown in FIG. 6 , the verification device includes at least oneverification element 16 for removably mounting on the osteotomy guideblock 40. For example, the osteotomy guide block 40 is provided with atleast one verification hole 409, and the verification element 16 ismounted on the verification hole 409. Moreover, the verification element16 has a step, and the stepped surface of the step is parallel to thesurface of the osteotomy guide block 40. In this embodiment, the steppedsurface is parallel to the upper surface of the osteotomy guide block 40(parallel including matching), and the verification hole 409 is athrough hole and is preferably opened vertically on the upper surface ofthe osteotomy guide block 40.

Further, in order to simplify the calculation process, most or allguiding features such as guiding grooves and guiding holes are providedon the upper surface of the osteotomy guide block 40. Furthermore, theaxis of the verification hole 409 is located on the symmetry plane ofthe osteotomy guide block 40, and the end surface of the verificationhole 409, the upper surface of the osteotomy guide block and the stepsurface are coplanarly arranged, so that the calculation process issimpler.

The specific verification process is as follows: first, the originalposition information of the verification element 16 (which has beenmounted on the osteotomy guide block) relative to the trackable element3 is recorded by the tracker 6 before leaving the factory. The tracker 6records the current position information of the verification element 16relative to the trackable element 3; the controller then determineswhether the original position of the verification element matches thecurrent position of the verification element; if the original positionof the verification element matches the current position of theverification element, the osteotomy guide tool 4 and/or the trackableelement 3 is determined by the controller as not deformed; if theoriginal position of the verification element does not match the currentposition of the verification element, the osteotomy guide tool 4 and/orthe trackable element 3 is determined by the controller the controlleras deformed

In this embodiment, the position information of the verification element16 relative to the trackable element 3 includes: the position and thepose of the front end point of the verification element in thecoordinate system of the trackable element. As shown in FIG. 6 , thefront end point of the verification element 16 is the tip S of theverification element 16. In use, if the controller determines that thecurrent position information of the front end point of the verificationelement does not match the original information recorded at the factory,it can be determined that one or both of the osteotomy guide tool 4 andthe trackable element 3 are deformed. This is because whether thetrackable element or the osteotomy guide tool 4 is deformed, thedeformation is transmitted to the verification hole 409. If theverification hole 409 is deformed, the deformation can be identified bythe verification element.

The orthopedic surgical system preferably further includes a correctiondevice, when the verification device recognizes that at least one of theosteotomy guide tool 4 and the trackable element 3 is deformed, thecorrection device is configured to correct the relative position betweenthe osteotomy guide tool 4 and the trackable element 3, and thecontroller updates the posture mapping relationship between theosteotomy guide tool 4 and the trackable element 3 accordingly. As shownin FIG. 7 and FIG. 8 , the verification device includes at least twocorrection elements, and the at least two correction elements aredetachably mounted on the osteotomy block 40. Further, a verificationelement 16 can be selected as the correction element. In thisembodiment, the relative positions between the osteotomy guide tool 4and the trackable element 3 are corrected by two correction elements 161and 162.

In more detail, when calibrating, firstly, the tracker 6 records thepositions of two of the correction elements 161 and 162 relative to thetrackable element 3 respectively; then, the controller calculates thecurrent position information of the osteotomy guide tool 4 relative tothe trackable element 3 based on the position information of the two ofthe correction elements 161 and 162 relative to the trackable element 3,and updates the posture mapping relationship between the osteotomy guidetool 4 and the trackable element 3 accordingly.

Further, the position of the correction element 161 relative to thetrackable element 3 is recorded as T₁ and record the position of thecorrection element 162 relative to the trackable element 3 as T₂. WhereT₁ represents the position of the correction element 161 in thecoordinate system of the trackable element; T₂ represents the positionof the correction element 162 in the coordinate system of the trackableelement.

In this embodiment, during the calibration process, the positioninformation of the osteotomy guide tool 4 relative to the trackableelement 3 is obtained in the following manner:

first, according to the position T₁ and T₂ of the two correctionelements 161 and 162 in the coordinate system of the trackable element,the controller obtains: the position T₀ of the center point of theosteotomy guide block 40 in the coordinate system of the trackableelement; and the position T₃ of the surface of the osteotomy guide block40 (the surface matching the aforementioned stepped surface, such as theupper surface) in the coordinate system of the trackable element;

further, according to the position T₀ of the center point of theosteotomy guide block and the position T₃ of the surface of theosteotomy guide block in the coordinate system of the trackable element,then the controller obtains the position and the pose of the osteotomyguide tool 4 relative to the trackable element 3.

After obtaining the position and the pose of the corrected osteotomyguide tool 4 relative to the trackable element 3, the original positioninformation recorded at the factory can be replaced accordingly. Duringthe operation, the position of the osteotomy guide tool is tracked withthe corrected position information and the movement of the robotic armis controlled, thereby achieving accurate positioning of the osteotomyguide tool. Preferably, the control device further includes a storagedevice for storing a posture mapping relationship between the trackableelement 3 and the osteotomy guide tool 4. In addition, the navigationdevice and the control device can be integrated to form a navigationsystem.

As shown in FIG. 7 , the osteotomy guide block 40 is provided with atleast two correction holes. In some embodiments, the correction hole 409may constitute one correction hole. In this embodiment, in addition tothe verification hole 409, two other correction holes are provided,namely a first correction hole 414 a and a second correction hole 414 b.The position of the correction hole is not particularly limited in thepresent disclosure, and is provided on the same surface or on differentsurfaces. The verification elements 16 (i.e., two correction elements)are mounted in any two holes of the first correction hole 414 a, thesecond correction hole 414 b and the correction hole 409. The positionof the two holes where the two correction elements are located can beobtained by matching the step surface on the two verification elements16 with the upper surface of the osteotomy guide tool. The orientationof each guiding groove and the guiding hole of the osteotomy guide toolrelative to the trackable element can be calculated, so as to correctthe position of the guide tool relative to the trackable element. Insome embodiments, the end surface of each of the correction holes, theupper surface of the osteotomy guide block and the step surface of thecorrection element are coplanarly disposed, thereby simplifying thecalculation process and improving the correction efficiency.

In this embodiment, the position of each correction element in thecoordinate system of the trackable element includes: the position andthe pose of the front end point of the correction element in thecoordinate system of the trackable element; and the position and thepose of the step surface of the target in the coordinate system of thetrackable element.

Further, in order to balance the osteotomy operation of the left andright legs, the osteotomy guide block 40 has an axisymmetric structure.In an alternative embodiment, as shown in FIG. 10 , two osteotomy guidesmirrored to each other can also be provided, which are osteotomy guideblocks 41 and 42, respectively. The osteotomy guide block 41 can achieveosteotomy guidance of the left leg. The osteotomy guide block 42 canachieve osteotomy guidance of the right leg. Each osteotomy guide blockis connected to the eccentric crank 403 via a quick-change interface,which is convenient for disassembly. In this embodiment, the osteotomyguide block 41 is connected to the eccentric crank 403 via aquick-change interface 415, and the osteotomy guide block 42 isconnected to the eccentric crank 403 via a quick-change interface 421.Optionally, the positions of the two quick-change interfaces 415 and 421are designed as corresponding configuration instead of mirrorconfiguration.

As shown in FIG. 11 , in other embodiments, only one osteotomy guideblock 43 is provided. The osteotomy guide block 43 is provided with twoquick-change interfaces 431 and 432, and the two quick-change interfaces431 and 432 are provided on two opposite sides of the osteotomy guideblock 43. The eccentric crank 403 is selectively detachably connected toone of the two quick-change interfaces 431 and 432. The eccentric crank403 is connected to different quick-change interfaces on the sameosteotomy guide block, and can be used for knee osteotomy of the leftleg and the right leg, respectively. However, the present disclosuredoes not limit the relative positions of the two quick-change interfaces431 and 432, they can be on opposite surfaces, and the axes can becollinear. Optionally, the osteotomy guide block 43 is also providedwith a quick-change interface. The osteotomy guide block 43 is connectedto the eccentric crank 403 after being turned 180°, so that theosteotomy guide block 43 can also be used for the osteotomy operation ofthe left and right legs. In short, the osteotomy operation of the leftand right legs can be realized by only one osteotomy guide block, andthe osteotomy operation of the left and right legs can also beimplemented by two osteotomy guide blocks, which is not limited in thepresent disclosure. Of course, it is optionally to use the sameosteotomy guide block to complete the osteotomy operation of the leftand right legs. Taking the left leg as an example, as shown in FIG. 13 ,when the osteotomy guide tool 4 provided by the present disclosure isapplied, it can provide guidance for the osteotomy operation of thetibial plateau. As shown in FIG. 14 , the osteotomy guide tool 4 of thepresent disclosure can also provide guidance for femoral osteotomy, sothere is no need to change the osteotomy guide during the operation,which is more convenient and efficient.

In this embodiment, the controller can provide a desired moving pathcomposed of a plurality of positioning points, and the controller isconfigured to control the movement of the robotic arm 2 to drive theosteotomy guide tool 4 and the trackable element 3 to move, until thetrackable element 3 is moved to the desired position along the desiredmoving path, thereby further improving the accuracy of positioning.Further, the controller obtains a desired moving path of the trackableelement according to the current position and the desired position ofthe trackable element 3. Wherein, the controller determines a desiredposition of the trackable element 3 according to a posture mappingrelationship between the trackable element and the osteotomy guide tool,and a target position of the osteotomy guide tool.

In more detail, as shown in FIG. 12 , when the osteotomy operation isstarted, the controller first obtains the current position A of thetrackable element 3 according to the registration information of therobotic arm 2 (including the posture mapping relationship between thetrackable element and the osteotomy guide tool). The desired position Bof the trackable element 3 can be obtained based on human boneregistration information (such as correlation information between thethree-dimensional knee joint digital model and the CT/MR scan image) andthe application of prosthetic information. Furthermore, according to theprinciple of inverse kinematics, the desired moving path of thetrackable element trackable element 3 can be planned. The controllersends instructions to the actuators of joints on each robotic arm tocontrol the movement of the trackable element 3 through the movement ofthe robotic arm joint. During the movement, the tracker 6 tracks andfeeds back the real positions A′ and A″ of the trackable element 3 inreal time which then sent to the controller. The controller cancalculate the deviation between the real-time position of the trackableelement 3 and the desired position, thereby updating the moving path ofthe trackable element 3, and finally controlling the trackable element 3to move to the desired position B, thereby achieving precisepositioning/locating of the osteotomy guide tool 4.

Next, the guiding features on the osteotomy guide will be furtherdescribed in combination with specific embodiments.

As shown in FIG. 15 , in a first embodiment, an osteotomy guide tool isprovided, which includes an osteotomy guide block 20 that can be usedfor osteotomy guidance of the distal femur and the tibial plateau.Specifically, the guiding feature on the osteotomy guide block 20 onlyincludes a 0° guiding groove 201 which is opened on the upper surface ofthe osteotomy guide block 20, and the osteotomy of the distal femur andtibial plateau can be achieved by rotating the osteotomy guide tool. Itshould be known that in this article, the 0° guiding groove means thatthe opening direction of the guiding groove is parallel to one side ofthe osteotomy guide block and the angle is 0°, for example, when the 0°guiding groove penetrates the upper and lower surfaces of the osteotomyguide block. Similarly, the 45° guiding groove refers to the case wherethe angle between the opening direction of the guiding groove and theside of the osteotomy guide are at 45°, for example, when the 45°guiding groove penetrates the upper and lower surfaces of the osteotomyguide from top to bottom.

As shown in FIG. 16 , in a second embodiment, a guide tool is provided,which includes an osteotomy guide block 21 that can be used forosteotomy guidance of the distal femur and the tibial plateau. Theguiding features on the osteotomy guide block 21 include two 0° guidinggrooves 211 arranged on different sides of the osteotomy guide block 21,for example, one on the upper surface and the other one on the sideadjacent to the upper surface. The two 0° guiding grooves 211 arearranged around the rotation axis of the osteotomy guide block 21. Thisconfiguration can reduce the rotation angle of the surgical tool 5 whencutting different osteotomy schemes, avoid large identificationdeviation of the target amplitude of movement, and avoid largetransmission errors caused by excessive changes in the pose of therobotic arm.

As shown in FIG. 17 , in a third embodiment, an osteotomy guide tool isprovided, which includes an osteotomy guide block 22, which can be usedfor osteotomy guidance of the distal femur, the tibial plateau and thepulley groove. Specifically, on the basis of the osteotomy guide block21 of the second embodiment, two pulley-osteotomy grooves 221 are addedto realize the osteotomy of the left and right legs.

As shown in FIG. 18 , in a fourth embodiment, an osteotomy guide tool isprovided, which includes an osteotomy guide block 23, which can be usedfor osteotomy guidance of the distal femur and the tibial plateau. Basedon the osteotomy guide block 20 of the first embodiment, a plurality ofguiding holes 231 (such as two guiding holes 231) are added, and theplurality of the guiding holes 231 can be used for guiding the femoralprosthesis mounting hole and the tibial tool mounting hole.

As shown in FIG. 19 , in a fifth embodiment, an osteotomy guide tool isprovided, which includes an osteotomy guide block 24, which can be usedfor osteotomy guidance of the distal femur and the tibial plateau. Inaddition to the two guiding grooves in the second embodiment, theosteotomy guide tool further includes guiding holes 241 (such as twoguiding holes 241), which can be used for guidance of the femoralprosthesis mounting hole and the tibial tool mounting hole.

As shown in FIG. 20 , in a sixth embodiment, an osteotomy guide tool isprovided, which includes an osteotomy guide block 25, and a plurality ofguiding holes 251 (such as two guiding holes) are added, relating to theosteotomy guide tool in the third embodiment, so that the osteotomyguide block 25 can be used for osteotomy guidance of the distal femur,the tibia plateau and the pulley groove, and can also be used forguidance of femoral prosthesis mounting holes and tibial tool mountingholes.

As shown in FIG. 21 , in a seventh embodiment, an osteotomy guide toolis provided, which includes an osteotomy guide block 26. The osteotomyguide block 26 includes a locating hole 261 in addition to necessaryguiding features. After the robotic arm 2 places the osteotomy guidetool at a predetermined position, the positioning nail can be used tofix the osteotomy guide tool to the bone through the locating hole 261on the osteotomy guide block 26. Then, the anterior/front end of thefemur, the oblique of the front end of the femur, the posterior/back endof the femur, the oblique of the back end of the femur, and the pulleygroove are cut at once. The method can avoid the movement of theosteotomy guide tool due to the insufficient rigidity of the robotic armduring the operation and reduce the guide deviation.

As shown in FIG. 22 , in an eighth embodiment, an osteotomy guide toolis provided, which includes an osteotomy guide block 27. The osteotomyguide block 27 is a modified structure of the osteotomy guide tool withtwo guide grooves and two guiding holes in the fifth embodiment. In themodified structure, the square groove 272 is used for osteotomy guide ofthe pulley groove, the long guiding groove 273 is used to cut otherosteotomy surfaces of the femur and the tibia, and the guiding hole 271is used for guidance of the femoral prosthesis mounting hole and thetibial tool mounting hole.

As shown in FIG. 23 , in a ninth embodiment, an osteotomy guide tool isprovided, which includes an osteotomy guide block 28, and one or bothsides of a guiding groove on the osteotomy guide block 28 form a breach281. The guiding groove with a breach can be a 0° guiding groove or a45° guiding groove. The surgical tool 5 (such as a swing saw) can beswung in a wide range along the breach 281, so that the length of theosteotomy guide block can be reduced. This form can reduce therequirements for surgical wounds and reduce damage to patient tissues.It should be known that the “breach” refers to that one or both ends ofthe guiding groove extend to the surface of the osteotomy guide blockand penetrate the surface to form a guiding groove that is open on oneor both sides thereof.

As shown in FIG. 24 , in a tenth embodiment, an osteotomy guide block 29is provided. Unlike the foregoing, a tibial treatment tool can be usedas the osteotomy guide block 29 to realize automatic positioning of thetibial treatment tool. As shown in FIG. 25 , in an eleventh embodiment,an osteotomy guide tool is provided, which includes an osteotomy guideblock 30. Unlike the foregoing, a pulley-osteotomy guide tool is used asthe osteotomy guide block 30 to realize the automatic positioning of thepulley-osteotomy guide tool.

Therefore, different combinations of guiding features can be provided onthe osteotomy guide block according to the requirements of the presentdisclosure. In some embodiments, a guiding groove and a guiding hole aresimultaneously provided on the osteotomy guide block, but the number andposition of the guiding grooves on the osteotomy guide block are notlimited. Similarly, the number and position of the guiding holes are notlimited. One or more or any combinations of 0° guiding grooves, 45°guiding grooves and pulley-osteotomy grooves can be provided on theosteotomy guide block. One or more or any combinations of femoralprosthesis mounting guiding holes, left leg tibial-tooling positioningguiding holes, right leg tibial-tooling positioning guiding holes, andosteotomy-guide fixing holes can be provided on the osteotomy guideblock.

FIG. 26 a provides a sterile bag 31, but for clarity, only a portion ofthe sterile bag 31 used by the robotic arm is shown. By putting asterile bag 31 on the end joint of the robotic arm, one end of thesterile bag 31 covers a connection port (such as a flange) of a roboticarm, and the connection port is detachably connected to the osteotomyguide tool. In this way, the surgical area can be isolated to ensureaseptic operation of the surgical environment. Preferably, a portion ofthe end of the sterile bag 31 connected to the flange of the robotic armis made of a material with a certain hardness, for example, medicalplastic such as PEEK can be selected. In addition, a correspondingyielding hole 311 is provided to avoid the fasteners 312 on theosteotomy guide tools, such as screws and positioning pins. The sterilebag 31 can meet the installation requirements of the surgical tool andminimize the exposure of the bacterial part of the robotic arm.

Further, an embodiment of the present disclosure further provides acomputer-readable storage medium that can store an instruction, and whenthe instruction is executed by a processor, the steps of the methodperformed by the controller are performed.

The preferred embodiments of the present disclosure are as describedabove, but are not limited to the scope disclosed in the aboveembodiments. For example, the present disclosure does not limit thenumber and types of guiding features on the osteotomy guide block. Ifthe orthopedic surgery system is applied to other orthopedic operations,the types of guiding grooves and guiding holes are different from thoselisted above. In addition, the present disclosure does not limit theposition of the verification hole and the position of the correctionhole. In addition, The guiding hole is preferably opened on the samesurface of the osteotomy guide block, so as to ensure the accuracy ofthe guidance and reduce the thickness of the osteotomy guide block, andthe above targets are preferably optical targets for emitting opticalsignals.

The above description is only a description of the preferred embodimentsof the present disclosure, and does not limit the scope of the presentdisclosure. Any changes or modifications made by those skilled in theart according to the above disclosure shall fall within the protectionscope of the claims.

What is claimed is:
 1. A method for correcting a position of anosteotomy guide tool, comprising: controlling a movement of a roboticarm according to a current position and a desired position of atrackable element, the trackable element mounted on the osteotomy guidetool or on the robotic arm, so that the robotic arm drives the osteotomyguide tool and the trackable element to move, until the trackableelement is moved to the desired position; wherein a position informationof the trackable element is used to represent a position of theosteotomy guide tool; said osteotomy guide further comprising, beforethe controlling step, a verificating step for detecting whether theosteotomy guide tool and/or the trackable element is deformed, whereinthe verificating step comprises: determining whether an originalposition of a verification element matches a current position of theverification element based on: 1) the original position of theverification element mounted on the osteotomy guide tool relative to thetrackable element before leaving a factory, and 11) the current positionof the verification element relative to the trackable element during useof the osteotomy guide tool; determining that the osteotomy guide tooland/or the trackable element is not deformed if the original position ofthe verification element matches the current position of theverification element, and proceeding to the controlling step ofcontrolling the movement of the robotic arm according to the currentposition and the desired position of the trackable element mounted onthe osteotomy guide tool or on the robotic arm; and determining that theosteotomy guide tool and/or the trackable element 1s deformed if theoriginal position of the verification element does not match the currentposition of the verification element, and correcting a relative positionbetween the osteotomy guide tool and the trackable element beforeproceeding to the controlling step of controlling the movement of therobotic arm according to the current position and the desired positionof the trackable element mounted on the osteotomy guide tool or on therobotic arm.
 2. The method for correcting a position of an osteotomyguide tool of claim 1, wherein the correcting step comprises: acquiringpositions of at least two correction elements mounted on the osteotomyguide tool relative to the trackable element; and obtaining a currentposition of the osteotomy guide tool relative to the trackable elementaccording to the positions of the at least two correction elementsrelative to the trackable element, and updating the relative positionbetween the osteotomy guide tool and the trackable element.
 3. Themethod for correcting a position of an osteotomy guide tool of claim 2,wherein the positions of two of the correction elements relative to thetrackable element are recorded as T₁ and T₂ where T₁ represents aposition of a first correction element in a coordinate system of thetrackable element, and T₂ represents a position of a second correctionelement in the coordinate system of the trackable element; wherein thecurrent position of the osteotomy guide tool relative to the trackableelement is obtained by: obtaining a position T₀ of a center point of anosteotomy guide block and a position T₃ of a surface of the osteotomyguide block in the coordinate system of the trackable element, accordingto the positions T₁ and T₂ of the at least two correction elements inthe coordinate system of the trackable element; and obtaining a positionand a pose of the osteotomy guide tool relative to the trackable elementaccording to the position T₀ of the center point of the osteotomy guideblock and the position T₃ of the surface of the osteotomy guide block inthe coordinate system of the trackable element.
 4. The method forcorrecting a position of an osteotomy guide tool of claim 3, wherein theposition of each of the correction elements in the coordinate system ofthe trackable element comprises: a position and a pose of a front end ofthe correction element in the coordinate system of the trackableelement; and a position and a pose of a stepped surface of thecorrection element in the coordinate system of the trackable element;wherein the correction element has a step, and the stepped surface ofthe step is parallel to a surface of the osteotomy guide block.
 5. Themethod for correcting a position of an osteotomy guide tool of claim 1,further comprising, before the controlling step: determining a desiredmoving path of the trackable element according to the current positionand the desired position of the trackable element; wherein during thecontrolling step, the robotic arm is controlled to move the trackableelement from the current position to the desired position along thedesired moving path.
 6. The method for correcting a position of anosteotomy guide tool of claim 5, wherein the desired position of thetrackable element is obtained according to a posture mappingrelationship between the trackable element and the osteotomy guide tool,as well as a target position of the osteotomy guide tool.
 7. The methodfor correcting a position of an osteotomy guide tool of claim 6, whereinthe posture mapping relationship between the trackable element and theosteotomy guide tool comprises a posture mapping relationship betweenmultiple feature points on the osteotomy guide tool and the trackableelement.
 8. The method for correcting a position of an osteotomy guidetool of claim 7, wherein the posture mapping relationship between eachof the multiple feature points and the trackable element is obtained by:acquiring relative positions between respective target balls on thetrackable element, and establishing a coordinate system of the trackableelement according to the acquired relative positions; acquiring aposition of a center point of an osteotomy guide block in the coordinatesystem of the trackable element; and determining a position and a poseof the multiple feature points in the coordinate system of the trackableelement according to positions of the multiple feature points relativeto the center point of the osteotomy guide, as well as a position of thecenter point of the osteotomy guide in the coordinate system of thetrackable element.
 9. The method for correcting a position of anosteotomy guide tool of claim 1, wherein a position information of theverification element relative to the trackable element comprises: aposition and a pose of a front end of the verification element in acoordinate system of the trackable element.